Methods of operating an exoskeleton for gait assistance and rehabilitation

Abstract

A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.

What is claimed is: 
     
       1. A method of operating an exoskeleton device configured for gait assistance, the method comprising:
 receiving information from sensors connected to a structural frame with multiple joints that are connected to a pulley system using multiple cables; 
 connecting the pulley system to an actuation system that includes multiple drive train systems that are responsible for controlling motion of the multiple joints; 
 determining, by a control system, whether to engage an individual drive train system by the actuation system based on the information; and 
 in response to determining that the individual drive train system is to be engaged,
 supplying power to a first motor to drive the individual drive train system responsible for controlling motion of a particular joint of the multiple joints of the structural frame. 
 
 
     
     
       2. The method of  claim 1 , wherein determining whether to engage the individual drive train system includes determining whether to assist a second motor to actuate or independently actuate the particular joint with the first motor. 
     
     
       3. The method of  claim 1 , wherein the first motor is connected to the actuation system via a clutch system, and wherein the method further comprises:
 actuating with a servo-actuated pawl to open or close a pawl engagement opening of the clutch system. 
 
     
     
       4. The method of  claim 1 , further comprising:
 controlling extension and flexion of the particular joint by selectively engaging a particular cable of the multiple cables of the pulley system. 
 
     
     
       5. The method of  claim 1 , further comprising:
 controlling extension and flexion of the particular joint by supplying power to a second motor. 
 
     
     
       6. The method of  claim 1 , wherein each joint of the multiple joints is connected to the pulley system with a separate cable respectively. 
     
     
       7. A method of operating an exoskeleton device, the method comprising:
 obtaining, by a control system, data generated by sensors that are located proximate to joints of a structural frame,
 wherein each joint is connected to a pulley system via a separate cable, and 
 wherein the pulley system is controlled by an actuation system that includes multiple drive train systems that are responsible for controlling motion of the joints; 
 
 determining, by the control system based on the data, that engagement of an individual drive train system of the multiple drive train systems by the actuation system is necessary to cause actuation of a given joint of the joints; and 
 actuating, by the control system, the given joint by powering a motor associated with the given joint to engage the actuation system. 
 
     
     
       8. The method of  claim 7 , wherein said actuating further comprises:
 causing a clutch system to engage a pulley drive shaft corresponding to the individual drive train system. 
 
     
     
       9. The method of  claim 7 , wherein the multiple drive train systems are arranged such that a main drive train is able to independently actuate pulley drive shafts corresponding respectively to each of the joints of the structural frame. 
     
     
       10. The method of  claim 9 , wherein said actuating further comprises:
 powering a main motor connected to the main drive train such that the main drive train engages the individual drive train system, 
 causing a clutch system to engage a pulley drive shaft corresponding to the individual drive train system, and 
 causing the pulley drive shaft to apply a tension to a given cable connected to the given joint. 
 
     
     
       11. The method of  claim 10 , wherein an amount of power supplied to the main motor is based on the data generated by the sensors. 
     
     
       12. The method of  claim 10 , wherein the clutch system uses servo-actuated pawls to independently engage and disengage the pulley drive shaft corresponding to the individual drive train system. 
     
     
       13. The method of  claim 7 , wherein the individual drive train system includes a worm gear that has a non-backdriving feature. 
     
     
       14. The method of  claim 7 , wherein the sensors are embedded within the joints of the structural frame. 
     
     
       15. The method of  claim 7 , wherein the sensors are embedded within a flexible textile that at least partially envelops the structural frame.